2021 |
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Joonwoo Ahn Seho Shin, Minsung Kim Jaeheung Park ACCURATE PATH TRACKING BY ADJUSTING LOOK-AHEAD POINT IN PURE PURSUIT METHOD Journal International Journal of Automotive Technology, 22 , pp. 118-129, 2021. @article{Ahn2021, title = {ACCURATE PATH TRACKING BY ADJUSTING LOOK-AHEAD POINT IN PURE PURSUIT METHOD}, author = {Joonwoo Ahn, Seho Shin, Minsung Kim, Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2021/02/Ahn2021_Article_AccuratePathTrackingByAdjustin-1.pdf}, year = {2021}, date = {2021-01-27}, journal = {International Journal of Automotive Technology}, volume = {22}, pages = {118-129}, abstract = {Path tracking is an essential aspect of the navigational process of self-driving cars. Especially, accurate path tracking is important for not only normal urban roads but also narrow and complex roads such as parking lot and alleyway. The pure pursuit method is one of the geometric path-tracking methods. Using this method, the look-ahead point can be selected far away and the control input is computed in real-time, which is advantageous when the given path is not smooth or when the path is specified using waypoints. Moreover, this method is more robust to localization errors than the modelbased path-tracking method. However, the original pure pursuit method and its variants have limited tracking performance. Therefore, this paper proposes a new method that heuristically selects a look-ahead point by considering the relationship between a vehicle and a path. Using this new look-ahead point, the vehicle can stably converge to the desired path and track the path without encountering the cutting-corner problem. The proposed method was tested using simulation and our selfdriving car platform. Our results show that the vehicle tracks the desired path more accurately using our proposed algorithm than using the previous pure pursuit methods.}, keywords = {}, pubstate = {published}, tppubtype = {article} } Path tracking is an essential aspect of the navigational process of self-driving cars. Especially, accurate path tracking is important for not only normal urban roads but also narrow and complex roads such as parking lot and alleyway. The pure pursuit method is one of the geometric path-tracking methods. Using this method, the look-ahead point can be selected far away and the control input is computed in real-time, which is advantageous when the given path is not smooth or when the path is specified using waypoints. Moreover, this method is more robust to localization errors than the modelbased path-tracking method. However, the original pure pursuit method and its variants have limited tracking performance. Therefore, this paper proposes a new method that heuristically selects a look-ahead point by considering the relationship between a vehicle and a path. Using this new look-ahead point, the vehicle can stably converge to the desired path and track the path without encountering the cutting-corner problem. The proposed method was tested using simulation and our selfdriving car platform. Our results show that the vehicle tracks the desired path more accurately using our proposed algorithm than using the previous pure pursuit methods. | |
2020 |
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박재흥 김승훈, 나재희 김주성 정현문 (Ed.) 한국실천공학교육학회 대상 수상 Awards 고용노동부, 2020. @collection{., title = {한국실천공학교육학회 대상 수상}, author = {박재흥, 김승훈, 나재희, 김주성, 정현문}, editor = {박재흥, 김승훈, 나재희, 김주성, 정현문}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/12/IMG_7155.jpg}, year = {2020}, date = {2020-11-06}, address = {고용노동부}, keywords = {}, pubstate = {published}, tppubtype = {collection} } | |
2019 |
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Park, Jaeheung (Ed.) 과학 기술 진흥 유공 표창 수상 Awards 차세대융합과학기술원, 2019. @collection{Park2019b, title = {과학 기술 진흥 유공 표창 수상}, author = {Park, Jaeheung}, editor = {Park, Jaeheung}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/01/award_paper.jpg http://dyros.snu.ac.kr/wp-content/uploads/2020/01/prof.jpg}, year = {2019}, date = {2019-12-30}, address = {차세대융합과학기술원}, keywords = {}, pubstate = {published}, tppubtype = {collection} } | |
Park, Jaeheung (Ed.) KROC Robotics Innovation (KRI) 상 수상 Awards Park, Jaeheung, KROC Robotics Innovation 2019, 2019. @collection{Park2019b, title = {KROC Robotics Innovation (KRI) 상 수상}, author = {Park, Jaeheung}, editor = {Park, Jaeheung}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/01/KRI.jpg http://dyros.snu.ac.kr/wp-admin/post.php?post=4273&action=edit}, year = {2019}, date = {2019-12-06}, publisher = {Park, Jaeheung}, address = {KROC Robotics Innovation 2019}, keywords = {}, pubstate = {published}, tppubtype = {collection} } | |
Park, Sumin; Park, Jaeheung Vertical COM Motion Generation to Reduce Slipping and Mechanical Work during Walking Conference/Workshop IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, Kanako Miura Award, 17.10.2019. @misc{Park2019b, title = {Vertical COM Motion Generation to Reduce Slipping and Mechanical Work during Walking}, author = {Sumin Park and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/11/Vertical-COM-motion.pdf}, year = {2019}, date = {2019-10-17}, journal = {IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, Kanako Miura Award}, address = {IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, Kanako Miura Award}, abstract = {A robot foot can slip when the horizontal shear force acting on the foot exceeds the frictional force between the foot and the ground. In the linear inverted-pendulum (LIP) model, the vertical height of the center of mass (COM) is kept constant, and the vertical force is always equal to the gravitational force at any walking speed. However, the horizontal force increases upon increasing the walking speed. This restriction on the vertical force in the LIP model can cause the robot foot to slip at fast walking speeds, as the horizontal force can exceed the frictional force, which is proportional to the vertical force. In this study, we present an optimization method to generate vertical COM motion to maintain the utilized coefficient of friction (uCOF) less than the available coefficient of friction between the foot and the ground, and to minimize the mechanical work of the COM. Vertical motions at various speeds are generated using the proposed optimization method. Subsequently, the generated COM motion patterns are used as reference trajectories of the COM in robot simulation. Optimization and simulation results demonstrate that the mechanical work and uCOF decrease because of the vertical motion. This study suggests a way to generate slip-safe and energy-efficient COM patterns, which, in turn, overcome the limitations of the LIP model by adding vertical COM motion.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } A robot foot can slip when the horizontal shear force acting on the foot exceeds the frictional force between the foot and the ground. In the linear inverted-pendulum (LIP) model, the vertical height of the center of mass (COM) is kept constant, and the vertical force is always equal to the gravitational force at any walking speed. However, the horizontal force increases upon increasing the walking speed. This restriction on the vertical force in the LIP model can cause the robot foot to slip at fast walking speeds, as the horizontal force can exceed the frictional force, which is proportional to the vertical force. In this study, we present an optimization method to generate vertical COM motion to maintain the utilized coefficient of friction (uCOF) less than the available coefficient of friction between the foot and the ground, and to minimize the mechanical work of the COM. Vertical motions at various speeds are generated using the proposed optimization method. Subsequently, the generated COM motion patterns are used as reference trajectories of the COM in robot simulation. Optimization and simulation results demonstrate that the mechanical work and uCOF decrease because of the vertical motion. This study suggests a way to generate slip-safe and energy-efficient COM patterns, which, in turn, overcome the limitations of the LIP model by adding vertical COM motion. | |
Kim, Sanghyun; Jang, Keunwoo; Park, Suhan; Lee, Yisoo; Lee, Sang Yup; Park, Jaeheung Whole-body Control of Non-holonomic Mobile Manipulator Based on Hierarchical Quadratic Programming and Continuous Task Transition Conference/Workshop IEEE International Conference on Advanced Robotics & Mechatronics (ARM), Osaka, Japan, Best Conference Paper Award, 03.07.2019. @misc{ICARM2019, title = {Whole-body Control of Non-holonomic Mobile Manipulator Based on Hierarchical Quadratic Programming and Continuous Task Transition}, author = {Sanghyun Kim and Keunwoo Jang and Suhan Park and Yisoo Lee and Sang Yup Lee and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/04/root_final.pdf http://dyros.snu.ac.kr/wp-content/uploads/2019/07/ARM2019_award-1024x768.jpg http://dyros.snu.ac.kr/wp-content/uploads/2019/07/20190720_221033-1024x512.jpg}, year = {2019}, date = {2019-07-03}, journal = {IEEE International Conference on Advanced Robotics & Mechatronics (ARM), Osaka, Japan, Best Conference Paper Award}, publisher = {IEEE International Conference on Advanced Robotics & Mechatronics (ARM), Osaka, Japan, Best Conference Paper Award}, address = {IEEE International Conference on Advanced Robotics & Mechatronics (ARM), Osaka, Japan, Best Conference Paper Award}, abstract = {Whole-body manipulation for a non-holonomic mobile manipulator has potential in various fields including service and industrial robotics because it can provide a great deal of manipulation capability and mobility. This paper presents the whole-body controller of the non-holonomic mobile manipulator for achieving complex tasks effectively. The proposed controller is designed based on Hierarchical Quadratic Programming (HQP). Thus, the controller can deal with both equality and inequality tasks. Moreover, by applying the continuous task transition strategy, our controller can compute the continuous control input when the priorities of the tasks are changed. The proposed control scheme was implemented on a mobile base with a 7 DoFs robotic arm and its performance was validated during various experimental scenarios.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } Whole-body manipulation for a non-holonomic mobile manipulator has potential in various fields including service and industrial robotics because it can provide a great deal of manipulation capability and mobility. This paper presents the whole-body controller of the non-holonomic mobile manipulator for achieving complex tasks effectively. The proposed controller is designed based on Hierarchical Quadratic Programming (HQP). Thus, the controller can deal with both equality and inequality tasks. Moreover, by applying the continuous task transition strategy, our controller can compute the continuous control input when the priorities of the tasks are changed. The proposed control scheme was implemented on a mobile base with a 7 DoFs robotic arm and its performance was validated during various experimental scenarios. | |
Kim, Seungyeon; Park, Jaeheung (Ed.) KROS RED Show 일반부문 금상 : TAA Gripper Awards The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 2019. @collection{Kim2019red, title = {KROS RED Show 일반부문 금상 : TAA Gripper}, editor = {Seungyeon Kim and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/01/20190125_050602.pdf}, year = {2019}, date = {2019-01-22}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea}, keywords = {}, pubstate = {published}, tppubtype = {collection} } | |
2017 |
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Kim, Sanghyun; Park, Jaeheung Singularity Avoidance Algorithms for Controlling Robot Manipulator: A Comparative Study. Journal Journal of Korea Robotics Society, Best Paper Award, 12 (1), pp. 042-054, Best Paper Award, Feb, 2017. @article{Kim2017, title = {Singularity Avoidance Algorithms for Controlling Robot Manipulator: A Comparative Study.}, author = {Sanghyun Kim and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2017/03/0015-01-0012-0001-6.pdf, Paper}, doi = {10.7746/jkros.2017.12.1.042}, year = {2017}, date = {2017-03-02}, journal = {Journal of Korea Robotics Society, Best Paper Award}, volume = {12}, number = {1}, pages = {042-054, Best Paper Award, Feb}, abstract = {Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.}, keywords = {}, pubstate = {published}, tppubtype = {article} } Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm. | |
Jaeheung, Park; Seungyeon, Kim; Jaehoon, Sim (Ed.) KROC 로봇 디자인대회 우수상 : DYROS humanoid JET Awards The 12th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 2017. @collection{Jaeheung2017, title = {KROC 로봇 디자인대회 우수상 : DYROS humanoid JET}, author = {Park Jaeheung and Kim Seungyeon and Sim Jaehoon}, editor = {Park Jaeheung and Kim Seungyeon and Sim Jaehoon}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/20190708_081633.pdf}, year = {2017}, date = {2017-02-07}, address = {The 12th Korea Robotics Society Annual Conference, Pyeongchang ,Korea}, keywords = {}, pubstate = {published}, tppubtype = {collection} } | |
2016 |
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Kim, Jeeseop; Kim, Mingon; Park, Jaeheung Improvement of Humanoid gait stability using reduction gear deformation model Conference/Workshop The 31st Institute of Control, Robotics and Systems (ICROS), COEX, Korea, Best Paper Award, 11.03.2016. @misc{Kim2016b, title = {Improvement of Humanoid gait stability using reduction gear deformation model}, author = {Jeeseop Kim and Mingon Kim and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2016/07/KakaoTalk_20171110_113129339-300x225.jpghttp://dyros.snu.ac.kr/wp-content/uploads/2013/05/ICROS_2016_JS_제출본.pdf, paper http://dyros.snu.ac.kr/wp-content/uploads/2013/05/KakaoTalk_20160715_145825207.jpg, Best Paper Award}, year = {2016}, date = {2016-03-11}, address = {The 31st Institute of Control, Robotics and Systems (ICROS), COEX, Korea, Best Paper Award}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } | |
2015 |
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Park, Hyeonjun; Kim, Peter Ki; Park, Jaeheung; Jang, Ja-Ram; Shin, Yong-Deuk; Bae, Ji-Hun; Park, Jae-Han; Baeg, Moon-Hong Robotic Peg-in-Hole Assembly by Hand Arm Coordination. Journal Journal of Korea Robotics Society, 10 (1), pp. 42-51, Best Paper Award, Feb, 2015. @article{Park2014, title = {Robotic Peg-in-Hole Assembly by Hand Arm Coordination.}, author = {Hyeonjun Park and Peter Ki Kim and Jaeheung Park and Ja-Ram Jang and Yong-Deuk Shin and Ji-Hun Bae and Jae-Han Park and Moon-Hong Baeg}, url = {http://www.jkros.org/journal/article.php?code=19745, Paper http://dyros.snu.ac.kr/wp-content/uploads/2016/01/국문지.pdf, Best Paper Award}, year = {2015}, date = {2015-02-12}, journal = {Journal of Korea Robotics Society}, volume = {10}, number = {1}, pages = {42-51, Best Paper Award, Feb}, abstract = {Peg-in-hole assembly is the most representative task for a robot to perform under contact conditions. Various strategies for accomplishing the peg-in-hole task with a robot exist, but the existing strategies are not sufficiently practical to be used for various assembly tasks in a human environment because they require additional sensors or exclusive tools. In this paper, the peg-in-hole assembly experiment is performed with anthropomorphic hand arm robot without extra sensors or devices using “intuitive peg-in-hole strategy”. From this work, the probability of applying the peg-in-hole strategy to a common assembly task is verified.}, keywords = {}, pubstate = {published}, tppubtype = {article} } Peg-in-hole assembly is the most representative task for a robot to perform under contact conditions. Various strategies for accomplishing the peg-in-hole task with a robot exist, but the existing strategies are not sufficiently practical to be used for various assembly tasks in a human environment because they require additional sensors or exclusive tools. In this paper, the peg-in-hole assembly experiment is performed with anthropomorphic hand arm robot without extra sensors or devices using “intuitive peg-in-hole strategy”. From this work, the probability of applying the peg-in-hole strategy to a common assembly task is verified. | |
2014 |
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Jung, De Hong; Park, Jaeheung; Schwartz, Mathew Towards On-Site Autonomous Robotic Floor Tiling of Mosaics Conference/Workshop The 14th International Conference on Control, Automation, and Systems (ICCAS), KINTEX, Korea, Best Presentation Award, 25.10.2014. @misc{Jung2014, title = {Towards On-Site Autonomous Robotic Floor Tiling of Mosaics}, author = {De Hong Jung and Jaeheung Park and Mathew Schwartz}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/KakaoTalk_20141218_143005865.jpg, Best Presentation Award}, year = {2014}, date = {2014-10-25}, address = {The 14th International Conference on Control, Automation, and Systems (ICCAS), KINTEX, Korea, Best Presentation Award}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } | |
Park, Hyeonjun; ki Kim, Peter; Bae, Ji-Hun; Park, Jae-Han; Baeg, Moon-Hong; Park, Jaeheung Peg-in-Hole task using robot hand manipulation Conference/Workshop The 9th Korea Robotics Society Annual Conference (KROC), Buyeo, Korea, best paper award, 21.06.2014. @misc{Park2014b, title = {Peg-in-Hole task using robot hand manipulation}, author = {Hyeonjun Park and Peter ki Kim and Ji-Hun Bae and Jae-Han Park and Moon-Hong Baeg and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2014/12/KROC2014_hyeonjun.pdf, paper http://dyros.snu.ac.kr/wp-content/uploads/2014/12/kros2014_hyeonjun_award.jpg, best paper award}, year = {2014}, date = {2014-06-21}, address = {The 9th Korea Robotics Society Annual Conference (KROC), Buyeo, Korea, best paper award}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } | |
2021 |
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ACCURATE PATH TRACKING BY ADJUSTING LOOK-AHEAD POINT IN PURE PURSUIT METHOD Journal International Journal of Automotive Technology, 22 , pp. 118-129, 2021. | |
2020 |
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한국실천공학교육학회 대상 수상 Awards 고용노동부, 2020. | |
2019 |
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과학 기술 진흥 유공 표창 수상 Awards 차세대융합과학기술원, 2019. | |
KROC Robotics Innovation (KRI) 상 수상 Awards Park, Jaeheung, KROC Robotics Innovation 2019, 2019. | |
Vertical COM Motion Generation to Reduce Slipping and Mechanical Work during Walking Conference/Workshop IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, Kanako Miura Award, 17.10.2019. | |
Whole-body Control of Non-holonomic Mobile Manipulator Based on Hierarchical Quadratic Programming and Continuous Task Transition Conference/Workshop IEEE International Conference on Advanced Robotics & Mechatronics (ARM), Osaka, Japan, Best Conference Paper Award, 03.07.2019. | |
KROS RED Show 일반부문 금상 : TAA Gripper Awards The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 2019. | |
2017 |
|
Singularity Avoidance Algorithms for Controlling Robot Manipulator: A Comparative Study. Journal Journal of Korea Robotics Society, Best Paper Award, 12 (1), pp. 042-054, Best Paper Award, Feb, 2017. | |
KROC 로봇 디자인대회 우수상 : DYROS humanoid JET Awards The 12th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 2017. | |
2016 |
|
Improvement of Humanoid gait stability using reduction gear deformation model Conference/Workshop The 31st Institute of Control, Robotics and Systems (ICROS), COEX, Korea, Best Paper Award, 11.03.2016. | |
2015 |
|
Robotic Peg-in-Hole Assembly by Hand Arm Coordination. Journal Journal of Korea Robotics Society, 10 (1), pp. 42-51, Best Paper Award, Feb, 2015. | |
2014 |
|
Towards On-Site Autonomous Robotic Floor Tiling of Mosaics Conference/Workshop The 14th International Conference on Control, Automation, and Systems (ICCAS), KINTEX, Korea, Best Presentation Award, 25.10.2014. | |
Peg-in-Hole task using robot hand manipulation Conference/Workshop The 9th Korea Robotics Society Annual Conference (KROC), Buyeo, Korea, best paper award, 21.06.2014. | |